CN115410379B

CN115410379B - Matching relation determining method, device and processing equipment applied to vehicle-road cooperation

Info

Publication number: CN115410379B
Application number: CN202111630891.5A
Authority: CN
Inventors: 郭晋鹏
Original assignee: Shenzhen Chenggu Technology Co ltd
Current assignee: Shenzhen Chenggu Technology Co ltd
Priority date: 2021-05-28
Filing date: 2021-12-28
Publication date: 2024-02-13
Anticipated expiration: 2041-12-28
Also published as: CN115410379A

Abstract

The application is applicable to the technical field of vehicle identification, and provides a matching relation determining method, a device and processing equipment applied to vehicle-road cooperation, comprising the following steps: determining a first matching relationship of a first node; determining a second matching relationship of the second node; and optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship. By the method, the accuracy of the obtained matching relationship can be improved.

Description

Matching relation determining method, device and processing equipment applied to vehicle-road cooperation

Technical Field

The application belongs to the technical field of vehicle identification, and particularly relates to a matching relation determination method, a device, processing equipment, a processing system and a computer readable storage medium applied to vehicle-road cooperation.

Background

Along with the promotion of new construction, the intelligent high speed is one of important infrastructures for deep fusion of the traditional expressway with the Internet, big data, artificial intelligence and other new technologies, and is the development trend of the expressway in the future.

Around the construction, operation and management links of the expressway, the development direction of the deep fusion of the expressway and the new foundation comprises four aspects of an infrastructure of the intelligent expressway, a brain center of the intelligent expressway, an intelligent expressway management application system and an intelligent expressway public service system, wherein:

(1) The building requirements of the infrastructure are: the real-time collection and transmission of the ultra-low time delay, ultra-high reliability and ultra-large bandwidth of the mass data of the expressway are realized through the sensing infrastructure and the multi-network integration communication facility.

(2) The construction requirements of the intelligent expressway brain center are as follows: real-time and intelligent feedback of the whole event of the expressway is realized, and manual operation and erroneous judgment are reduced.

(3) The requirements of the intelligent highway management application system are as follows: aiming at the main management function requirements of road network monitoring, emergency management, maintenance management, charging management and the like of the expressway, the integration and sharing of data and information are realized, and a unified intelligent cloud control management application system for different objects is formed. Such as an intelligent monitoring system for road network operation, a free flow charging system, an emergency safety command system and the like, so as to realize multidimensional cooperation, visual command and efficient decision management of traffic police, road administration, operation institutions and the like.

(4) The intelligent expressway public service system comprises a vehicle-road construction integrated information service system, a quality intelligent service area, intelligent rescue service and the like.

According to the four development directions, the construction of the infrastructure and the construction of the intelligent highway brain center are the basis for realizing the intelligent highway management application system and the intelligent highway public service system. In order to realize real-time and intelligent feedback of all events of the expressway, vehicles on the expressway need to be accurately identified and positioned.

In the existing method, when a vehicle passes through a portal or a side bar, a radar on the portal or the side bar tracks the vehicle to obtain a tracking track. The Road Side Unit (RSU) On the portal or the Side bar interacts with the On Board Unit (OBU) of the vehicle entering the set area to read the identity information (such as license plate) of the vehicle, and binds the read identity information with the vehicle track, thereby realizing tracking and identification of the vehicle.

In the above method, an area is preset near the portal frame or the side bar, that is, the distance between the vehicle where the OBU is located and the RSU is estimated by limiting the communication distance between the RSU and the side bar, and then the distance between the vehicle and the target measured by the radar is combined to judge which track is bound with the vehicle. However, due to poor consistency of the OBU installed on the current vehicle, it is difficult to ensure that the RSU can receive information of the OBU when the vehicle enters the set area, and thus binding errors of the vehicle track and the identity information are caused.

Disclosure of Invention

The embodiment of the application provides a matching relation determining method applied to vehicle-road cooperation, which can solve the problem of low accuracy of binding of vehicle tracks and identity information.

In a first aspect, an embodiment of the present application provides a method for determining a matching relationship applied to vehicle-road collaboration, including:

Determining a first matching relation of a first node, wherein the numerical value of the first matching relation is used for indicating the matching degree of the track of a first target vehicle and the identity information of a second target vehicle, the first target vehicle is a vehicle detected by a first radar, and the second target vehicle is a vehicle detected by a first Road Side Unit (RSU);

determining a second matching relation of a second node, wherein in a pre-stored topological structure diagram, the first node is a father node of the second node, the numerical value of the second matching relation is used for indicating the matching degree of the track of a third target vehicle and the identity information of a fourth target vehicle, the third target vehicle is a vehicle detected by a second radar, and the fourth target vehicle is a vehicle detected by a second RSU;

and optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship.

In a second aspect, an embodiment of the present application provides a matching relationship determining apparatus applied to vehicle-road collaboration, including:

the first matching relation determining module is used for determining a first matching relation of a first node, wherein the numerical value of the first matching relation is used for indicating the matching degree of the track of a first target vehicle and identity information of a second target vehicle, the first target vehicle is a vehicle detected by a first radar, and the second target vehicle is a vehicle detected by a first RSU;

The second matching relation determining module is used for determining a second matching relation of a second node, wherein in a pre-stored topological structure diagram, the first node is a father node of the second node, the numerical value of the second matching relation is used for indicating the matching degree of the track of a third target vehicle and the identity information of a fourth target vehicle, the third target vehicle is a vehicle detected by a second radar, and the fourth target vehicle is a vehicle detected by a second RSU;

and the second matching relation optimizing module is used for optimizing the second matching relation according to the second matching relation and the first matching relation to obtain the optimized second matching relation.

In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a processing system comprising a processing device as claimed in claim 12, and comprising a plurality of radars and RSUs.

In a fifth aspect, embodiments of the present application provide a processing system, including a parent node roadside processor, a child node roadside processor, a central processor, and a first radar, a second radar, a first RSU, and a second RSU;

The parent node road side processor is used for determining a first matching relation of a first node, the numerical value of the first matching relation is used for indicating the matching degree of the track of a first target vehicle and identity information of a second target vehicle, the first target vehicle is a vehicle detected by a first radar, and the second target vehicle is a vehicle detected by a first Road Side Unit (RSU);

the child node road side processor is configured to determine a second matching relationship of a second node, where in a pre-stored topology structure diagram, the first node is a parent node of the second node, a value of the second matching relationship is used to indicate a matching degree of a track of a third target vehicle and identity information of a fourth target vehicle, the third target vehicle is a vehicle detected by a second radar, and the fourth target vehicle is a vehicle detected by a second RSU;

the central processor is used for forwarding the second matching relationship to the sub-node road side processor;

the sub-node road side processor is further configured to perform optimization processing on the second matching relationship according to the second matching relationship and the first matching relationship, so as to obtain the optimized second matching relationship.

In a sixth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method according to the first aspect.

In a seventh aspect, embodiments of the present application provide a computer program product for causing a terminal device to perform the method of the first aspect described above when the computer program product is run on the terminal device.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

in the embodiment of the application, after the first matching relationship of the first node and the second matching relationship of the second node are determined, optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship. Because the first node is the father node of the second node, and because the characteristics of the road, when the vehicle passes through the road section corresponding to the child node, the vehicle is shown to necessarily pass through the road section corresponding to a certain father node of the child node, therefore, the second matching relationship is optimized according to the second matching relationship and the first matching relationship, the accuracy of the optimized second matching relationship can be improved, and the second matching relationship is used for indicating the matching degree of the track of the third target vehicle and the identity information of the fourth target vehicle, namely, the matching accuracy of the track of the vehicle and the identity information can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a flowchart of a matching relationship determining method applied to vehicle-road cooperation according to an embodiment of the present application;

FIG. 2 is a flowchart of another method for determining a matching relationship applied to vehicle-road cooperation according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a parent node and child node according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of optimizing matching relationships according to an embodiment of the present application;

fig. 5 is a block diagram of a matching relationship determining apparatus applied to vehicle-road cooperation according to another embodiment of the present application;

FIG. 6 is a schematic diagram of a processing apparatus according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a processing system according to another embodiment of the present application;

FIG. 8 is a schematic diagram of another processing system provided in an embodiment of the present application;

fig. 9 is a schematic deployment diagram of a processing system according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise.

Embodiment one:

a vehicle-road coordination system (vehicle-road coordination) is the latest development direction of an intelligent traffic system, and in the vehicle-road coordination system, identity information corresponding to a track of a vehicle is generally required to be identified. In order to identify the identity information (such as license plate) of a vehicle running on a road, a radar and an RSU are simultaneously arranged on a certain road section, the distance between the vehicle where the OBU is located and the RSU is estimated by limiting the communication distance between the RSU and the RSU, and the distance of a target measured by the radar is combined to judge which track is bound with the vehicle, so that the matching relation of the vehicle is obtained, and the matching relation of the track of the vehicle and the identity information is obtained. However, the existing method has a problem that the accuracy of the determined matching relationship is low because of poor consistency of the OBU mounted on the vehicle.

In order to solve the above technical problems, an embodiment of the present application provides a method for determining a matching relationship applied to vehicle-road cooperation, in which a topology structure diagram is defined in advance according to a relationship between roads, each node of the topology structure diagram corresponds to a road segment on the road, for example, when a vehicle passes through a road segment a, a road segment B may be passed behind the road segment a, a node a corresponding to the road segment a is a parent node of a node B corresponding to the road segment B, and the node B is a child node of the node a. In the vehicle matching relationship provided by the embodiment of the application, the matching relationship of the father node and the child node is obtained, and then the matching relationship of the child node is optimized according to the matching relationship corresponding to the father node and the child node. After a matching relationship is obtained according to a certain road section, the matching relationship of the road section is optimized according to the matching relationship of a father node corresponding to the node of the road section, namely, the judgment condition for determining the final matching relationship is increased, so that the accuracy of the optimized matching relationship can be effectively improved.

The following describes a matching relation determining method applied to vehicle-road cooperation according to an embodiment of the present application with reference to the accompanying drawings.

Fig. 1 shows a flowchart of a matching relationship determining method applied to vehicle-road coordination, where the matching relationship determining method applied to vehicle-road coordination may be applied to a processing device, and is described in detail as follows:

step S11, determining a first matching relation of the first node, wherein the numerical value of the first matching relation is used for indicating the matching degree of the track of the first target vehicle and the identity information of the second target vehicle, the first target vehicle is a vehicle detected by the first radar, and the second target vehicle is a vehicle detected by the first RSU.

In this embodiment, in order to describe the first matching relationship more clearly, a specific example will be described as follows: if the track corresponding to the first target vehicle is: track a and track B, the identity information of the second target vehicle is: identity information a and identity information b. The first matching relationship is assumed to be as shown in table 1.

Table 1:

first matching relation	Identity information a	Identity information b
			Track A	0.8	0.2
Track B	0.05	0.95

In table 1, the sum of the values of each row is equal to 1, and the larger the value is, the higher the matching degree is, for example, "0.8" in table 1 is used to indicate that the matching degree of the track a and the identity information a is higher. It should be noted that the first target vehicle of the present embodiment may be the same vehicle as the second target vehicle, or may be a vehicle that is partially the same as the second target vehicle.

In this embodiment, in order to improve the matching probability, the radar and the RSU are set in the road section corresponding to the first node at the same time, that is, the matching probability is improved by ensuring that the radar and the RSU have overlapping detection areas. In this embodiment, the number of radars is set to be 1 or more, and the number of RSUs is set to be 1 or more. In order to improve the convenience of data acquisition, the radar and the RSU are arranged on the same portal frame and/or the same side rod on the road section.

In some embodiments, considering that the mast is wider (across the road) and the sidebar is narrower, the number of radars (or RSUs) provided on the mast is less than the number of radars (or RSUs) provided on the sidebar.

In some embodiments, if full coverage of the roadway is desired, the mast and/or side rails may be mounted on the entire roadway and the radar and RSU mounted on the mast and/or side rails. It should be noted that the mounting distance of the mast and/or the side mast is taken into account for the maximum detection range of the radar. For example, assuming that the maximum detection range of the radar is 1 kilometer (km), if the radar mounted on one portal (or side bar) is forward radar (no reverse radar is mounted), one portal (or side bar) needs to be mounted every 1km, but if the forward radar and the reverse radar are mounted on one portal (or side bar) at the same time, one portal (or side bar) may be mounted every 2 km. The forward radar is a radar whose detection direction is the same as the traveling direction of the vehicle, and the reverse radar is a radar whose detection direction is opposite to the traveling direction of the vehicle.

In some embodiments, the portal may be deployed on both the entire roadway, considering that the cost of the portal is higher than the sidebar, but the portal is wider, i.e., more radar and RSUs may be installed on the portal (e.g., a corresponding RSU is installed for each lane). Taking the example that the maximum detection range of the radar is 1km, a portal frame is arranged on a road (such as a highway) at certain intervals (such as 6 km), and side poles are arranged between the portal frames at certain intervals (such as 2 km). Of course, if full coverage is required on the road, at least one forward radar and one reverse radar are installed on each side pole (or gantry) when the distance between the side poles is 2 km.

Step S12, determining a second matching relation of the second node, wherein in the pre-stored topological structure diagram, the second node is a child node of the first node, the value of the second matching relation is used for indicating the matching degree of the track of the third target vehicle and the identity information of the fourth target vehicle, the third target vehicle is a vehicle detected by the second radar, and the fourth target vehicle is a vehicle detected by the second RSU.

In this embodiment, each node in the pre-stored topology map corresponds to a specific road segment in the road. Depending on the actual situation of the road, one parent node may correspond to a plurality of child nodes, and one child node may also correspond to one parent node. When the vehicle reaches the road section corresponding to the child node, the vehicle is indicated to pass through the road section corresponding to a certain father node of the child node.

In this embodiment, the second matching relationship is obtained after matching according to data obtained by the second radar and the second RSU installed on the road section corresponding to the second node. That is, the first matching relationship is not considered in determining the second matching relationship.

And step S13, optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain an optimized second matching relationship.

Specifically, when the second matching relationship of the second node is optimized, the matching relationship (i.e., the first matching relationship) corresponding to the parent node of the second node is combined.

In the embodiment of the application, after the first matching relationship of the first node and the second matching relationship of the second node are determined, the second matching relationship is optimized according to the second matching relationship and the first matching relationship, so that the optimized second matching relationship is obtained. Because the first node is the father node of the second node, and because the characteristics of the road, when the vehicle passes through the road section corresponding to the child node, the vehicle is shown to necessarily pass through the road section corresponding to a certain father node of the child node, therefore, the second matching relationship is optimized according to the second matching relationship and the first matching relationship, the accuracy of the optimized second matching relationship can be improved, and the second matching relationship is used for indicating the matching degree of the track of the third target vehicle and the identity information of the fourth target vehicle, namely, the matching accuracy of the track of the vehicle and the identity information can be improved.

In some embodiments, the matching relationship may be optimized in combination with the source of the trace, where step S13 includes:

a1, determining the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship.

In order to describe the trajectory of the third target vehicle from the parent node more clearly, a specific application example will be described below. The second matching relationship is assumed to be as shown in table 2.

Table 2:

second matching relation	Identity information a	Identity information b
			Track A	0.8	0.2
Track C	0.05	0.95

As can be seen from a combination of tables 1 and 2, the track C is not a track originating from its parent node, and the track a is a track originating from its parent node.

And A2, optimizing the second matching relationship according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node to obtain an optimized second matching relationship.

In the above-mentioned A1 and A2, considering that the vehicle passing through the road segment corresponding to the child node must pass through the road segment corresponding to a certain parent node of the child node, only the track of the third target vehicle with the source and the identity information of the fourth target vehicle with the source (i.e. only the track and the identity information of the parent node for the track and the identity information of any child node) are concerned, the speed and the accuracy of the optimization can be improved.

In some embodiments, considering that in the process of optimizing the second matching relationship, there may be a track without any matching relationship, that is, there is a track, where the track does not have a corresponding relationship with any detected identity information, the identity information corresponding to the track needs to be determined, so as to optimize the second matching relationship. Referring to fig. 2, fig. 2 shows a flowchart of another method for determining a matching relationship applied to vehicle-road cooperation according to an embodiment of the present application, where step S24 and step S25 are steps for refining the above step A2. Step S21 and step S22 are the same as step S11 and step S12, and step S23 is the same as step A1, and will not be described again here.

Step S21, determining a first matching relationship of the first node, where a value of the first matching relationship is used to indicate a matching degree of a track of the first target vehicle and identity information of the second target vehicle, where the first target vehicle is a vehicle detected by the first radar, and the second target vehicle is a vehicle detected by the first RSU.

Step S22, determining a second matching relation of the second node, wherein in the pre-stored topological structure diagram, the second node is a child node of the first node, the value of the second matching relation is used for indicating the matching degree of the track of the third target vehicle and the identity information of the fourth target vehicle, the third target vehicle is a vehicle detected by the second radar, and the fourth target vehicle is a vehicle detected by the second RSU.

Step S23, determining the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship.

And step S24, determining the track of the first target vehicle and the identity information of the second target vehicle without any matching relation according to the second matching relation and the first matching relation.

Referring to table 2, if the matching degree of the track C and the identity information a and the identity information b of table 2 is changed to "0", that is, it means that the track C and the identity information a have no matching relationship, and the track C and the identity information b have no matching relationship. I.e. the track C is a track without any matching relationship. The identity information of the second target vehicle that does not have any matching relationship is similar to the trajectory of the first target vehicle that does not have any matching relationship, and will not be described by way of example.

Step S25, optimizing the second matching relationship according to the track of the first target vehicle and the identity information of the second target vehicle without any matching relationship, and according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node, so as to obtain an optimized second matching relationship.

In this embodiment, since any track is necessarily matched with a certain identity information, if the track of the first target vehicle without any matching relationship and the identity information of the second target vehicle without any matching relationship are found, the second matching relationship is optimized according to the track, so that the optimized second matching relationship can be more accurate.

In some embodiments, in order to improve the accuracy of the first matching relationship corresponding to the parent node, the first matching relationship needs to be optimized. That is, after obtaining the optimized second matching relationship, it includes:

and optimizing the first matching relation according to the optimized second matching relation to obtain the optimized first matching relation.

In this embodiment, considering that the vehicle appearing from the child node necessarily passes through any parent node thereof, the optimized second matching relationship may be used to optimize the first matching relationship, thereby improving the accuracy of the optimized first matching relationship.

How the first matching relationship and the second matching relationship are optimized is described below with a specific example.

Referring to fig. 3, in fig. 3, node d is a child node of node e and node c, that is, node e and node c are parent nodes of node d. And the first matching relation and the second matching relation are represented by a matrix, and the values of the elements in the matrix are probability values for indicating the matching degree of the track and the identity information.

As shown in fig. 4, it is assumed that the matrices corresponding to the node e, the node c, and the node d are E, C, D, i.e., 2 matrices corresponding to the parent node, respectively.

Taking matrix C as an illustration of each matrix meaning: three tracks pass through the node c, the track IDs are 1, 2 and 3 respectively, and the node c detects the identity information of three vehicles: a01, a02, a03, the first row of the matrix C indicates that the probability of matching track 1 with a01 is 0.9, the probability of matching with a02 is 0.03, and the probability of matching with a03 is 0.07.

The following fig. 4 describes a process flow of optimizing the first matching relationship and the second matching relationship:

(1) Splicing the matrixes corresponding to the father nodes (namely the matrix C and the matrix E) to obtain spliced matrixes Joint, wherein the number of rows of the joints is equal to the sum of the numbers of rows of the matrixes corresponding to the father nodes, and the number of columns of the joints is equal to the sum of the numbers of columns of the matrixes corresponding to the father nodes.

(2) And (3) expanding the second matching matrix (i.e. matrix D) to obtain an expanded matrix, wherein the expanded matrix is marked as Ext, the number of rows of the Ext is the same as that of the spliced matrix, the number of columns of the Ext is the same as that of the spliced matrix, and the probability of each track in the Ext and identity information (such as license plate) is consistent with that in the matrix D. Namely: for each row of the Ext, if the track represented by the row also appears in the matrix D, the probability corresponding to each column of the row is kept consistent with that in the matrix D, and the element in the column corresponding to the identity information which does not appear in the matrix D is assigned to 0; if the trace represented by the row does not appear in matrix D, then all element values for the row are assigned 0.

(3) The concatenation matrix is multiplied by the elements at the corresponding positions in the expansion matrix to obtain an integration matrix, denoted Mer, i.e., mer=joint.×ext. Where "×" denotes the multiplication of elements at corresponding positions of two matrices of the same size. It is to be noted that, when the above (1) to (3) are performed, the track of the third target vehicle and the identification information of the fourth target vehicle originating from different parent nodes can be determined. Referring to the Mer matrix in fig. 4, track 1, track 2, identity information a01, and identity information a02 originate from matrix C corresponding to the parent node, and track 4 and identity information a04 originate from matrix E corresponding to the parent node. After the dot multiplication process, it can be uniquely determined that the identity information corresponding to the track 4 is a04.

(4) Deleting rows and columns of elements which are not 0 in the matrix Mer to obtain a matrix Temp which is all 0, and assigning corresponding element values in the points to the Temp to obtain a matrix Del. The matrix Temp is used to indicate the track and identity information without any correspondence.

(5) And assigning the value in the matrix Del to the corresponding element in the matrix Mer, wherein the assigned matrix Mer is a matrix containing the optimized first matching relationship and the optimized second matching relationship. Further, in order to more intuitively represent the matching degree of the track and the identity information, the assigned matrix Mer is normalized to obtain a final matrix Res. The normalization process is as follows: for each element Mer in the matrix Mer _i,j Normalization was performed according to the following formula:

wherein M is _R The number of columns of the matrix Mer after assignment is the same as the number of columns of the points, namely i and t are respectively smaller than or equal to the number of rows and the number of columns of the points.

In some embodiments, after the optimized first matching relationship and the optimized second matching relationship are obtained, replacing the first matching relationship before optimization with the optimized first matching relationship, and replacing the second matching relationship before optimization with the optimized second matching relationship to achieve updating of the first matching relationship and the second matching relationship.

In some embodiments, step S22 (or step S12) comprises:

and C1, receiving second vehicle dynamic information uploaded by a second radar, wherein the second vehicle dynamic information comprises the position information of a third target vehicle.

Specifically, when a radar detects a target, position information of the target is uploaded to a processing device. Of course, the radar may also upload information such as the speed, angle, distance between the target and the radar, etc. of the target, i.e. the second vehicle dynamic information may also include information such as the speed, angle, distance between the target and the radar, etc. It should be noted that the second vehicle dynamic information acquired by the radar is uploaded in the form of an echo signal, and the processing device samples the echo signal to obtain a digital signal, and then processes the digital signal to obtain the corresponding second vehicle dynamic information.

And C2, receiving second vehicle structural information uploaded by a second RSU, wherein the second vehicle structural information comprises the identity information of a fourth target vehicle.

Specifically, the RSU reads and writes data of an OBU electronic tag installed on the vehicle in a covered effective OBU data reading area through a short-range high-frequency (e.g. 5.8G) communication mode, and obtains identity information of the OBU, such as obtaining a license plate of the vehicle. In some embodiments, the second vehicle structural information may further include: vehicle model information, vehicle color information, production time information, person or unit information to which the vehicle belongs, and the like.

And C3, generating a track of the third target vehicle according to the position information of the third target vehicle.

Specifically, the processing device determines the corresponding track according to the relationship of the respective position information. In some embodiments, the position information of the next moment may be estimated by combining the position information, speed, angle, etc. of the target (e.g., the third target vehicle), so as to generate the track of each third target vehicle.

And C4, determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle, and setting the same track identification for each track belonging to the same vehicle, wherein the track identifications and the tracks are in one-to-one correspondence.

Specifically, whether the track of the third target vehicle and the track of the first target vehicle have the same track or not can be judged according to the position information, the speed, the angle and the like corresponding to each track, if yes, the track of the first target vehicle and the track of the third target vehicle corresponding to the same vehicle are marked by adopting the same track mark, namely, the tracks of different vehicles are marked uniquely by adopting different track marks.

And C5, matching the track of the third target vehicle with the identity information of the fourth target vehicle, and determining a second matching relation of the second node, wherein the track identifier corresponding to the track of the third target vehicle is adopted in the second matching relation to represent the track of the third target vehicle.

In this embodiment, before the second matching relationship is determined, track identifiers of tracks obtained by the same vehicle at different nodes are unified in advance, that is, when the second matching relationship is optimized by combining the first matching relationship, the relationship between the tracks corresponding to the first matching relationship and the second matching relationship is correct, so that the accuracy of the optimized second matching relationship can be improved.

In some embodiments, if the tracks under different nodes are uniquely marked after the second matching relationship is determined, that is, the second matching relationship and the first matching relationship both use the custom identifier to represent the track of the corresponding target vehicle, before step S13, the method includes:

D1, determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle, and setting the same track identification for each track belonging to the same vehicle, wherein the track identifications are in one-to-one correspondence with the tracks.

And D2, modifying the second matching relationship and/or the custom identifier in the first matching relationship according to the track identifier to obtain a new second matching relationship and a new first matching relationship.

The step S13 includes:

and optimizing the new second matching relationship according to the new second matching relationship and the new first matching relationship.

In this embodiment, since the tracks under different nodes are not uniquely marked before the second matching relationship is determined, for example, the vehicle a passes through the node a and the node B to obtain the track a and the track B respectively, and the user-defined identifier "1" and the user-defined identifier "2" are adopted to represent the two tracks respectively, before the second matching relationship is optimized, the user-defined identifiers of the two tracks need to be modified first, so as to ensure that the tracks of the same vehicle under different nodes all adopt the same track identifier, thereby improving the accuracy of the optimized second matching relationship. It should be noted that, the modification of the custom identifier may modify only the custom identifier of a certain matching relationship, or may modify the custom identifiers of all matching relationships at the same time, which only needs to ensure that all tracks under the same vehicle corresponding to all matching relationships after the modification are marked by using the same track identifier.

In some embodiments, step C4 (or step D1) above, comprises:

and E1, unifying the track of the third target vehicle and the track of the first target vehicle to the same coordinate system.

The same coordinate system here may be a world coordinate system, i.e. the trajectory of the third target vehicle and the trajectory of the first target vehicle are both unified under the world coordinate system. Or converting the track of the third target vehicle into a coordinate system corresponding to the track of the first target vehicle, so that the track of the third target vehicle and the track of the first target vehicle are unified under the same coordinate system.

And E2, determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle which are unified to the same coordinate system, and setting the same track mark for each track belonging to the same vehicle.

In the above E1 and E2, since each track is unified under the same coordinate system, and then whether the tracks belong to the track of the same vehicle is determined according to the position information, the speed, the angle, and the like of each track after the coordinate system is unified, the accuracy of determining whether the two tracks belong to the track of the same vehicle is improved.

In some embodiments, considering that the user may wish to view the track corresponding to each node of a certain vehicle, after determining the track belonging to the same vehicle, the method includes:

If the track output instruction is received, the identity information of the vehicle is extracted from the track output instruction, all tracks of the vehicle corresponding to the identity information are spliced according to the identity information, the complete track corresponding to the identity information is obtained, and the complete track is output.

Specifically, each track obtained by each node can be spliced to obtain a complete track of each vehicle under all nodes, and then track identification is set for the complete track. For example, assuming that the vehicle a passes through the node a, the node B and the node C, the track at the node a is the track a, the track at the node B is the track B, and the track at the node C is the track C, the track a, the track B and the track C are spliced to obtain the complete track of the vehicle a, and then the complete track of the vehicle a is identified. In the embodiment, the tracks of all the nodes are spliced, so that a user can intuitively check the complete track of the vehicle which the user wants to check, and the good experience of the user is improved.

In some embodiments, the step S11 (or step S21) includes:

f1, receiving first vehicle dynamic information uploaded by a first radar, wherein the first vehicle dynamic information comprises the position information of a first target vehicle.

And F2, receiving first vehicle structural information uploaded by the first RSU, wherein the first vehicle structural information comprises the identity information of the second target vehicle.

And F3, generating a track of the first target vehicle according to the position information of the first target vehicle.

And F4, matching the track of the first target vehicle with the identity information of the second target vehicle, and determining a first matching relationship.

The implementation process of F1 to F3 is similar to the implementation process of C1 to C3, and the implementation process of F4 is similar to the implementation process of C4, which is not repeated here.

In some embodiments, the number of first radars is greater than 1, and step F3 includes:

and F31, performing space calibration on the position information of the first target vehicle uploaded by each first radar.

And F32, generating tracks of the first target vehicles according to the calibrated position information of each first target vehicle.

In the above-mentioned F31 and F32, when a plurality of radars are mounted on the same portal (or side bar), it is necessary to spatially calibrate the position information uploaded by the radars. Specifically, according to the installation positions of the radars, the position information uploaded by the radars is converted into the same coordinate system, so that the spatial calibration of the position information is realized.

In some embodiments, if the same mast (or sidebar) mounts both forward and reverse radars, step F32 above includes:

generating a forward track according to the position information of the first target vehicle uploaded by each calibrated forward radar, and generating a reverse track according to the position information of the first target vehicle uploaded by each calibrated reverse radar. Wherein the forward track and the reverse track belong to the track of the first target vehicle. Further, after the forward track and the reverse track are obtained, the forward track and the reverse track are spliced.

The generation process of the forward track and the reverse track is separated, so that the generation speed of the track is improved.

In some embodiments, after step S13 and step S23, comprising: and carrying out identity recognition on the third target vehicle according to the optimized second matching relation.

In this embodiment, since the optimized second matching relationship is more accurate, the identity recognition performed according to the optimized second matching relationship is also more accurate.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Embodiment two:

corresponding to the above method for determining a matching relationship applied to vehicle-road cooperation in the embodiments, fig. 5 shows a block diagram of a device for determining a matching relationship applied to vehicle-road cooperation in the embodiments of the present application, and for convenience of explanation, only the portion relevant to the embodiments of the present application is shown.

Referring to fig. 5, the matching relationship determining apparatus 5 applied to vehicle-road cooperation may be applied to a processing device, including: a first matching relation determining module 51, a second matching relation determining module 52, a second matching relation optimizing module 53. Wherein:

the first matching relationship determining module 51 is configured to determine a first matching relationship of the first node, where a value of the first matching relationship is used to indicate a matching degree of a track of a first target vehicle and identity information of a second target vehicle, the first target vehicle is a vehicle detected by the first radar, and the second target vehicle is a vehicle detected by the first RSU.

The second matching relationship determining module 52 is configured to determine a second matching relationship of the second node, where in the pre-stored topology structure diagram, the first node is a parent node of the second node, a value of the second matching relationship is used to indicate a matching degree of a track of a third target vehicle and identity information of a fourth target vehicle, the third target vehicle is a vehicle detected by the second radar, and the fourth target vehicle is a vehicle detected by the second RSU.

The second matching relationship optimizing module 53 is configured to optimize the second matching relationship according to the second matching relationship and the first matching relationship, so as to obtain an optimized second matching relationship.

The radar and RSU are installed in detail in the first embodiment, and will not be described here again.

In some embodiments, the second matching relationship optimization module 53 includes:

the track source determining unit is used for determining the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship.

And the second matching relation optimizing unit is used for optimizing the second matching relation according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node to obtain an optimized second matching relation.

In some embodiments, the second matching relationship optimizing unit is specifically configured to:

determining the track of the first target vehicle and the identity information of the second target vehicle without any matching relationship according to the second matching relationship and the first matching relationship; and optimizing the second matching relation according to the track of the first target vehicle and the identity information of the second target vehicle without any matching relation, and according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node, so as to obtain the optimized second matching relation.

In some embodiments, after the optimized second matching relationship, the method further includes:

In some embodiments, the second matching relationship determination module 52 includes:

and the second vehicle dynamic information receiving unit is used for receiving the second vehicle dynamic information uploaded by the second radar, wherein the second vehicle dynamic information comprises the position information of the third target vehicle.

The second vehicle structural information receiving unit is used for receiving second vehicle structural information uploaded by the second RSU, and the second vehicle structural information comprises the identity information of the fourth target vehicle.

And a track generation unit of the third target vehicle for generating a track of the third target vehicle according to the position information of the third target vehicle.

The track determining unit of the same vehicle is used for determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle, and setting the same track identification for each track belonging to the same vehicle, wherein the track identifications are in one-to-one correspondence with the tracks.

The second matching relation determining unit is used for matching the track of the third target vehicle with the identity information of the fourth target vehicle to determine a second matching relation of the second node, and the track identifier corresponding to the track of the third target vehicle is adopted in the second matching relation to represent the track of the third target vehicle.

In some embodiments, the second matching relationship and the first matching relationship each represent the track of the corresponding target vehicle by using a custom identifier, and the matching relationship determining apparatus 5 applied to the vehicle-road cooperation includes:

The new matching relation determining module is used for modifying the second matching relation and/or the custom identification in the first matching relation according to the track identification; and obtaining a new second matching relationship and a new first matching relationship.

Correspondingly, the second matching relation optimizing module 53 is specifically configured to:

In some embodiments, the track determining unit of the same vehicle is specifically configured to:

unifying the track of the third target vehicle and the track of the first target vehicle to the same coordinate system; and determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle which are unified to the same coordinate system, and setting the same track mark for each track belonging to the same vehicle.

In some embodiments, the matching relation determining apparatus 5 applied to vehicle-road cooperation further includes:

and the complete track output module is used for extracting the identity information of the vehicle from the track output instruction if the track output instruction is received, splicing all tracks of the vehicle corresponding to the identity information according to the identity information to obtain the complete track corresponding to the identity information, and outputting the complete track.

In some embodiments, the first matching relationship determination module 51 includes:

and the first vehicle dynamic information receiving unit is used for receiving the first vehicle dynamic information uploaded by the first radar, and the first vehicle dynamic information comprises the position information of the first target vehicle.

The first vehicle structural information receiving unit is used for receiving the first vehicle structural information uploaded by the first RSU, and the first vehicle structural information comprises the identity information of the second target vehicle.

And the track generation unit is used for generating the track of the first target vehicle according to the position information of the first target vehicle.

The first matching relation determining unit is used for matching the track of the first target vehicle with the identity information of the second target vehicle to determine a first matching relation.

In some embodiments, the number of first radars is greater than 1, and the track generation unit of the first target vehicle is specifically configured to:

performing space calibration on the position information of the first target vehicles uploaded by each first radar; and generating the track of the first target vehicle according to the calibrated position information of each first target vehicle.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.

Embodiment III:

fig. 6 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application. As shown in fig. 6, the processing apparatus 6 of this embodiment includes: at least one processor 60 (only one processor is shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the various method embodiments described above when executing the computer program 62:

and optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain an optimized second matching relationship.

Optionally, optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain an optimized second matching relationship, including:

determining the track of the third target vehicle from the father node and the identity information of the fourth target vehicle from the father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship;

and optimizing the second matching relation according to the track of the third target vehicle from the father node and the identity information of the fourth target vehicle from the father node to obtain an optimized second matching relation.

and optimizing the second matching relationship and the first matching relationship according to the second matching relationship and the first matching relationship to obtain an optimized second matching relationship and an optimized first matching relationship.

Optionally, according to the second matching relationship and the first matching relationship, optimizing the second matching relationship and the first matching relationship to obtain an optimized second matching relationship and an optimized first matching relationship, including:

optimizing the second matching relationship according to the track of the third target vehicle from the father node and the identity information of the fourth target vehicle from the father node to obtain an optimized second matching relationship;

determining the track of the first target vehicle and the identity information of the second target vehicle without any matching relationship according to the second matching relationship and the first matching relationship;

And optimizing the first matching relation according to the track of the first target vehicle and the identity information of the second target vehicle without any matching relation, so as to obtain the optimized first matching relation.

Optionally, determining the second matching relationship of the second node includes:

receiving second vehicle dynamic information uploaded by a second radar, wherein the second vehicle dynamic information comprises the position information of a third target vehicle;

receiving second vehicle structural information uploaded by a second RSU, wherein the second vehicle structural information comprises the identity information of a fourth target vehicle;

generating a track of the third target vehicle according to the position information of the third target vehicle;

determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle, and setting the same track mark for each track belonging to the same vehicle, wherein the track marks correspond to the tracks one by one;

and matching the track of the third target vehicle with the identity information of the fourth target vehicle, and determining a second matching relation of the second node, wherein the track identifier corresponding to the track of the third target vehicle is adopted in the second matching relation to represent the track of the third target vehicle.

Optionally, the second matching relationship and the first matching relationship each represent the track of the corresponding target vehicle by using a custom identifier, and before the second matching relationship and the first matching relationship are optimized, the method includes:

modifying the second matching relation and/or the custom identification in the first matching relation according to the track identification; obtaining a new second matching relationship and a new first matching relationship;

optimizing the second matching relationship according to the second matching relationship and the first matching relationship, including:

Optionally, determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle includes:

unifying the track of the third target vehicle and the track of the first target vehicle to a world coordinate system;

the track belonging to the same vehicle is determined from the track of the third target vehicle and the track of the first target vehicle unified to the world coordinate system.

Optionally, the same track identifier is set for each track belonging to the same vehicle, including:

and splicing all tracks belonging to the same vehicle respectively to obtain all the complete tracks belonging to the same vehicle, and carrying out unique identification on all the complete tracks to obtain track identifications of all the complete tracks.

Optionally, determining the first matching relationship of the first node includes:

receiving first vehicle dynamic information uploaded by a first radar, wherein the first vehicle dynamic information comprises position information of a first target vehicle;

receiving first vehicle structural information uploaded by a first RSU, wherein the first vehicle structural information comprises identity information of a second target vehicle;

generating a track of the first target vehicle according to the position information of the first target vehicle;

and matching the track of the first target vehicle with the identity information of the second target vehicle, and determining a first matching relationship.

Optionally, the number of the first radars is greater than 1, generating the track of the first target vehicle according to the position information of the first target vehicle includes:

performing space calibration on the position information of the first target vehicles uploaded by each first radar;

and generating the track of the first target vehicle according to the calibrated position information of each first target vehicle.

The processing device 6 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The processing device may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of processing device 6 and is not limiting of processing device 6, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The processor 60 may be a central processing unit (Central Processing Unit, CPU), the processor 60 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may in some embodiments be an internal storage unit of the processing device 6, such as a hard disk or a memory of the processing device 6. The memory 61 may in other embodiments also be an external storage device of the processing device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the processing device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the processing device 6. The memory 61 is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 61 may also be used to temporarily store data that has been output or is to be output.

Embodiment four:

fig. 7 is a schematic structural diagram of a processing system according to an embodiment of the present application. As shown in fig. 7, a processing system 7 of this embodiment includes: a processing device 71, a plurality of radars 72 (only 1 is shown in the figure), and a plurality of RSUs 73 (only 1 is shown in the figure), the processing procedure of which is the same as that of the processing device of the third embodiment, and will not be described again here.

Fifth embodiment:

fig. 8 is a schematic structural diagram of another processing system according to an embodiment of the present application. As shown in fig. 8, a processing system 8 of this embodiment includes: a parent node roadside processor 81, a child node roadside processor 82, a central processor 83, a first radar 84, a second radar 85, a first RSU86, and a second RSU87.

The parent node roadside processor 81 is configured to determine a first matching relationship of the first node, where a value of the first matching relationship is used to indicate a matching degree of a track of a first target vehicle and identity information of a second target vehicle, the first target vehicle is a vehicle detected by the first radar 84, and the second target vehicle is a vehicle detected by the first roadside unit RSU 85;

the child node roadside processor 82 is configured to determine a second matching relationship of the second node, where in the pre-stored topology structure diagram, the first node is a parent node of the second node, a value of the second matching relationship is used to indicate a matching degree of a track of a third target vehicle and identity information of a fourth target vehicle, the third target vehicle is a vehicle detected by the second radar 86, and the fourth target vehicle is a vehicle detected by the second RSU 87;

The central processor 83 is configured to forward the second matching relationship to the sub-node roadside processor 82;

the sub-node roadside processor 82 is further configured to optimize the second matching relationship according to the second matching relationship and the first matching relationship, so as to obtain the optimized second matching relationship.

As shown in fig. 9, in the embodiment of the present application, a roadside processor (a parent node roadside processor 81 or a child node roadside processor 82) is set to correspond to a node, and is used for processing each information of the radar and the RSU last time under the node, and then receiving and forwarding data of each roadside processor by the central processor 83. Since the data processing procedure is distributed to different processors (road side processors or central processors), the events required for processing are dispersed, thereby reducing the data delay, and the data dispersion processing is also beneficial to rapid transmission within a limited bandwidth.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the application also provides a network device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The matching relation determining method applied to the vehicle-road cooperation is characterized by comprising the following steps of:

optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship;

the optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship includes:

determining the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship;

and optimizing the second matching relation according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node to obtain the optimized second matching relation.

2. The matching relationship determining method according to claim 1, wherein the optimizing the second matching relationship according to the trajectory of the third target vehicle from the same parent node and the identity information of the fourth target vehicle from the same parent node to obtain the optimized second matching relationship includes:

and optimizing the second matching relation according to the track of the first target vehicle and the identity information of the second target vehicle without any matching relation, and according to the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node, so as to obtain the optimized second matching relation.

3. The matching relation determination method according to any one of claims 1 or 2, characterized by comprising, after the second matching relation after the optimization is obtained:

4. The matching relation determination method according to any one of claims 1 or 2, wherein the determining the second matching relation of the second node includes:

receiving second vehicle dynamic information uploaded by the second radar, wherein the second vehicle dynamic information comprises the position information of the third target vehicle;

receiving second vehicle structural information uploaded by the second RSU, wherein the second vehicle structural information comprises the identity information of the fourth target vehicle;

determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle, and setting the same track mark for each track belonging to the same vehicle, wherein the track marks are in one-to-one correspondence with the tracks;

and matching the track of the third target vehicle with the identity information of the fourth target vehicle, and determining a second matching relation of a second node, wherein the track identifier corresponding to the track of the third target vehicle is adopted in the second matching relation to represent the track of the third target vehicle.

5. The matching relation determining method according to any one of claims 1 or 2, wherein the second matching relation and the first matching relation each represent a track of a corresponding target vehicle by using a custom identifier, and before the optimizing the second matching relation according to the second matching relation and the first matching relation, the method comprises:

modifying the custom identification in the second matching relation and/or the first matching relation according to the track identification; obtaining a new second matching relationship and a new first matching relationship;

the optimizing the second matching relationship according to the second matching relationship and the first matching relationship includes:

6. The matching relation determination method according to claim 5, wherein determining a track belonging to the same vehicle from the tracks of the third target vehicle and the first target vehicle, and setting the same track identifier for each track belonging to the same vehicle, comprises:

unifying the track of the third target vehicle and the track of the first target vehicle to the same coordinate system;

And determining the track belonging to the same vehicle from the track of the third target vehicle and the track of the first target vehicle which are unified to the same coordinate system, and setting the same track mark for each track belonging to the same vehicle.

7. The matching relation determination method according to any one of claims 1 or 2, wherein the determining the first matching relation of the first node includes:

receiving first vehicle dynamic information uploaded by the first radar, wherein the first vehicle dynamic information comprises position information of the first target vehicle;

receiving first vehicle structural information uploaded by a first RSU, wherein the first vehicle structural information comprises identity information of the second target vehicle;

8. The matching relation determination method according to claim 7, wherein the number of the first radars is greater than 1, the generating the trajectory of the first target vehicle from the position information of the first target vehicle includes:

Performing spatial calibration on the position information of the first target vehicle uploaded by each first radar;

9. A matching relation determining apparatus for vehicle-road cooperation, comprising:

The second matching relation optimizing module is used for optimizing the second matching relation according to the second matching relation and the first matching relation to obtain the optimized second matching relation;

the second matching relation optimizing module comprises:

the track source determining unit is used for determining the track of the third target vehicle from the same father node and the identity information of the fourth target vehicle from the same father node in the track of the third target vehicle and the identity information of the fourth target vehicle according to the second matching relationship and the first matching relationship;

10. A processing device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the computer program.

11. A processing system comprising a processing device as claimed in claim 10 and comprising a plurality of radars and a plurality of RSUs.

12. The processing system is characterized by comprising a father node road side processor, a child node road side processor, a central processor, a first radar, a second radar, a first RSU and a second RSU;

The sub-node road side processor is further configured to perform optimization processing on the second matching relationship according to the second matching relationship and the first matching relationship, so as to obtain the optimized second matching relationship; the optimizing the second matching relationship according to the second matching relationship and the first matching relationship to obtain the optimized second matching relationship includes:

13. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 8.